電機系劉智誠 助理教授於
期刊論文
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FPGA realisation of inverse kinematics for biped robot based on CORDIC
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：FPGA realisation of inverse kinematics for biped robot based on CORDIC期刊論文FPGA realisation of inverse kinematics for biped robot based on CORDICChing-Chang Wong; Chih-Cheng LiuElectronics Letters 49(5), p.332-334An FPGA realisation structure based on CORDIC is proposed to implement inverse kinematics for a biped robot. First, the angle equations of inverse kinematics for the biped robot are described. Based on these equations represented by the inverse tangent function, the FPGA structure based on two CORDIC operators of circular vectoring and hyperbolic vectoring is proposed and implemented on an FPGA chip. Finally, the comparison of the proposed FPGA realisation and the software realisation to calculate these angle equations is presented to illustrate the effectiveness of the proposed structure.en00135194國外SCI;是GBR